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Dynamic optical sensing: Robotic system and manufacturing method utilizing same

机译:动态光学传感:机器人系统及其制造方法

摘要

Two opposing fingers of a robot hand are each provided with an array of optical devices which are capable of being in optical communication with one another through the gap between the fingers. One finger is provided with an array of light emitters and the other is provided with an array of light recepetors. By taking advantage of the motion of the robot hand and the small size of the optical devices, the shape of an object between the fingers can be detected by using at least one linear set, and preferably at least two linear sets, of devices in each array. Illustratively, the linear sets form a T-shaped array or a U- shaped array and are disposed along the edges of the fingers. In one embodiment the emitters are GRIN rod lenses coupled through a fiber cable to a light source, and the receptors are also GRIN rod lenses coupled through a fiber cable to a camera system. A manufacturing method utilizing such a sensor to identify the shape of objects is also described.
机译:机器人手的两个相对的手指各自设有一排光学设备,该光学设备能够通过手指之间的间隙彼此进行光学通信。一个手指具有一排发光器,而另一根手指具有一排光接收器。通过利用机械手的运动和光学装置的小尺寸,可以通过在每个装置中使用至少一个线性组,优选至少两个线性组的装置来检测手指之间的物体的形状。数组。说明性地,线性组形成T形阵列或U形阵列并且沿着指状件的边缘布置。在一个实施例中,发射器是通过光纤电缆耦合到光源的GRIN棒透镜,并且接收器也是通过光纤电缆耦合到照相机系统的GRIN棒透镜。还描述了一种利用这种传感器识别物体形状的制造方法。

著录项

  • 公开/公告号USH65H

    专利类型

  • 公开/公告日1986-05-06

    原文格式PDF

  • 申请/专利权人

    申请/专利号US19830498881

  • 申请日1983-05-27

  • 分类号B66C1/00;

  • 国家 US

  • 入库时间 2022-08-22 07:28:39

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